/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef ORBEXTRACTOR_H
#define ORBEXTRACTOR_H

#include <vector>
#include <list>
#include <opencv/cv.h>


namespace ORB_SLAM2 {

    class ExtractorNode {
    public:
        ExtractorNode() : bNoMore(false) {}

        void DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4);

        std::vector<cv::KeyPoint> vKeys;
        cv::Point2i UL, UR, BL, BR;
        std::list<ExtractorNode>::iterator lit;
        bool bNoMore;
    };

    class ORBextractor {
    public:

        ORBextractor(int nfeatures, float scaleFactor, int nlevels,
                     int iniThFAST, int minThFAST);

        ~ORBextractor() {}

        // Compute the ORB features and descriptors on an image.
        // ORB are dispersed on the image using an octree.
        // Mask is ignored in the current implementation.
        void operator()(cv::InputArray image, cv::InputArray mask,
                        std::vector<cv::KeyPoint> &keypoints,
                        cv::OutputArray descriptors);

        int inline GetLevels() {
            return nlevels;
        }

        float inline GetScaleFactor() {
            return scaleFactor;
        }

        std::vector<float> inline GetScaleFactors() {
            return mvScaleFactor;
        }

        std::vector<float> inline GetInverseScaleFactors() {
            return mvInvScaleFactor;
        }

        std::vector<float> inline GetScaleSigmaSquares() {
            return mvLevelSigma2;
        }

        std::vector<float> inline GetInverseScaleSigmaSquares() {
            return mvInvLevelSigma2;
        }

        std::vector<cv::Mat> mvImagePyramid;

    protected:

        void ComputePyramid(cv::Mat image);

        void ComputeKeyPointsOctTree(std::vector<std::vector<cv::KeyPoint> > &allKeypoints);

        std::vector<cv::KeyPoint> DistributeOctTree(const std::vector<cv::KeyPoint> &vToDistributeKeys, const int &minX,
                                                    const int &maxX, const int &minY, const int &maxY,
                                                    const int &nFeatures, const int &level);

        std::vector<cv::Point> pattern;

        int nfeatures;
        double scaleFactor;
        int nlevels;
        int iniThFAST;
        int minThFAST;

        std::vector<int> mnFeaturesPerLevel;

        std::vector<int> umax;

        std::vector<float> mvScaleFactor;
        std::vector<float> mvInvScaleFactor;
        std::vector<float> mvLevelSigma2;
        std::vector<float> mvInvLevelSigma2;
    };

} //namespace ORB_SLAM

#endif

